cschindlbeck's profile - activity

You can set set_goal_orientation_tolerance and set_goal_position_tolerance separately if you use python bindings, otherw

Official development can now be found here https://github.com/ros-industrial/ros2_canopen

Hi,

is there a graphical tool to plot current joint_states vs desired joint states which are output by moveit? I want to visually evaluate the performance of the hardware controller / check if my velocity or acceleration params are reasonable. Is rqt_plot the best choice? And what would be the topic for the desired joint states?

Thanks,

Chris

Thanks, when i use Gazebo, i can check the state from my position controllers (desired vs acutal), when i do plain movei

Thanks, when i use Gazebo, i can check state from my position controllers, when i do plain moveit and use the fake_contr

Graphical tool to check controller performance (MoveIt, ros_control)? Hi, is there a graphical tool to plot current joi

Hello everyone,

i have a script where i add objects to the Planning Scene in MoveIt!. I want to clear all previously added objects at the beginning of the script, however, that does not work. What am i doing wrong? I also tried to iterate over all known objects but without success.

Is it because every time i start the script i create a new node and the objects of the "previous" node are not accessible?

rospy.init_node('planningscenenode', anonymous=True)
scene = moveit_commander.PlanningSceneInterface()

scene.remove_world_object()  # Does not work at the beginning
sleep(1)

co = CollisionObject()
co.id = 'plate'+str(0)
co.meshes = rospkg.RosPack().get_path('agilus')+"/meshes/" + "plate.stl"
ps = PoseStamped()
ps.pose.position.x = -0.6
ps.pose.position.y = -0.6
ps.pose.position.z = 0
ps.pose.orientation = Quaternion(*tf.transformations.quaternion_from_euler(np.deg2rad(float(0)), np.deg2rad(float(0)), np.deg2rad(float(0))))

co.mesh_poses = ps
co.mesh_poses.header.frame_id = '/base_link'
scene.add_mesh(co.id, co.mesh_poses, co.meshes)

Thanks in advance!

I followed the tutorial link text

transformPose: Lookup would require extrapolation at time Hello, i have a simple problem: I cannot transform a pose int

Building moveit with catkin_make in ROS Kinetic (Ubuntu 16.04) fails with the following errors

/usr/local/include/fcl/math/constants.h:49:1: error: expected primary-expression before ‘static’
 static constexpr S pi() { return S(3.141592653589793238462643383279502884197169399375105820974944592L); }
 ^
/usr/local/include/fcl/math/constants.h:49:1: error: expected ‘}’ before ‘static’
/usr/local/include/fcl/math/constants.h:49:1: error: expected ‘;’ before ‘static’
/usr/local/include/fcl/math/constants.h:52:18: error: ‘S’ does not name a type
 static constexpr S phi() { return S(1.618033988749894848204586834365638117720309179805762862135448623L); }
                  ^
/usr/local/include/fcl/math/constants.h:55:20: error: ‘constants’ does not name a type
 using constantsf = constants<float>;
                    ^
/usr/local/include/fcl/math/constants.h:56:20: error: ‘constants’ does not name a type
 using constantsd = constants<double>;
                    ^
/usr/local/include/fcl/math/constants.h:58:1: error: expected declaration before ‘}’ token
 } // namespace fcl
 ^

Do i need to add any compiler flags to the CMakeLists?

# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake

cmake_minimum_required(VERSION 2.8.3)

add_compile_options(-std=c++11)

set(CATKIN_TOPLEVEL TRUE)

# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
  RESULT_VARIABLE _res
  OUTPUT_VARIABLE _out
  ERROR_VARIABLE _err
  OUTPUT_STRIP_TRAILING_WHITESPACE
  ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
  # searching fot catkin resulted in an error
  string(REPLACE ";" " " _cmd_str "${_cmd}")
  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()

# include catkin from workspace or via find_package()
if(_res EQUAL 0)
  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
  # include all.cmake without add_subdirectory to let it operate in same scope
  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
  add_subdirectory("${_out}")

else()
  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
  # or CMAKE_PREFIX_PATH from the environment
  if(NOT DEFINED CMAKE_PREFIX_PATH)
    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
      string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
    endif()
  endif()

  # list of catkin workspaces
  set(catkin_search_path "")
  foreach(path ${CMAKE_PREFIX_PATH})
    if(EXISTS "${path}/.catkin")
      list(FIND catkin_search_path ${path} _index)
      if(_index EQUAL -1)
        list(APPEND catkin_search_path ${path})
      endif()
    endif()
  endforeach()

  # search for catkin in all workspaces
  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
  find_package(catkin QUIET
    NO_POLICY_SCOPE
    PATHS ${catkin_search_path}
    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)

  if(NOT catkin_FOUND)
    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
  endif()
endif()

catkin_workspace()

I guess this is related to https://gist.github.com/JeroenDM/bb79... and https://answers.ros.org/question/2791... and https://answers.ros.org/question/2916...

Indeed, i had 0.6.0 installed, reverting to 0.5.0 and installing fcl from source solved the problem, thanks!

Build of moveit from source fails in ROS Kinetic: FCL library errors Building moveit with catkin_make in ROS Kinetic (Ub

Build of moveit from source fails in ROS Kinetic: FCL library errors Building moveit with catkin_make in ROS Kinetic fai

Build of moveit from source fails in ROS Kinetic: FCL library errors Building moveit with catkin_make in ROS Kinetic fai

I found a dirty fix rospy.sleep(2) scene.remove_world_object() rospy.sleep(2) There should be a better way right? Ed

I found a dirty fix rospy.sleep(2) scene.remove_world_object() rospy.sleep(2) There should be a better way right?

Lack of knowledge. I will consider it in future code.

Clearing PlanningScene at beginning of script (moveit_commander) Hello everyone, i have a script where i add objects to

Clearing PlanningScene at beginning of script (moveit_commander) Hello everyone, i have a script where i add objects to

Clearing PlanningScene at beginning of script (moveit_commander) Hello everyone, i have a script where i add objects to

Clearing PlanningScene at beginning of script (moveit_commander) Hello everyone, i have a script where i add objects to

Clearing PlanningScene at beginning of script (moveit_commander) Hello everyone, i have a script where i add objects to

Clearing PlanningScene at beginning of script Hello everyone, i have a script where i add objects to the Planning Scene

Clearing PlanningScene at beginning of script () Hello everyone, i have a script where i add objects to the Planning Sc

Clearing PlanningScene at beginning of script () Hello everyone, i have a script where i add objects to the Planning Sc

I am trying to control my KUKA Agilus with the ROS-I experimental package and MoveIt and i get an error for no controller_list specified.

[ERROR] [1466689198.911826798]: No controller_list specified.
[ INFO] [1466689198.911892610]: Returned 0 controllers in list
[ INFO] [1466689198.919276819]: Trajectory execution is managing controllers

However, i do explicitly load the yaml config:

controller_list:
  - name: ""
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [joint_a1, joint_a2, joint_a3, joint_a4, joint_a5, joint_a6]

And i can list the configuration with:

$ rosparam get /controller_list

What am i missing? The test XML reads as follows:

<launch>

  <rosparam command="load" file="$(find kuka_rsi_hw_interface)/config/controller_joint_names.yaml"/>
  <rosparam command="load" file="$(find agil_moveit_config)/config/controllers.yaml"/>

  <arg name="sim" default="true" />
  <arg name="robot_ip" unless="$(arg sim)" />

  <include file="$(find agil_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <!-- remap topics to conform to ROS-I specifications -->
  <remap from="/position_trajectory_controller/follow_joint_trajectory" to="/joint_trajectory_action" />
  <remap from="/position_trajectory_controller/state" to="/feedback_states" />
  <remap from="/position_trajectory_controller/command" to="/joint_path_command"/>

  <!-- run the robot simulator and action interface nodes -->
  <group if="$(arg sim)">
    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
    <include file="$(find kuka_rsi_hw_interface)/test/test_hardware_interface.launch" />
  </group>

  <include file="$(find agil_moveit_config)/launch/move_group.launch">
      <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find agil_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

  <include file="$(find agil_moveit_config)/launch/default_warehouse_db.launch" />

</launch>

after some analysis i suppose the ETHERNET1 block in the RSI diagramm has no input source, could be the problem

Hi there,

is it possible to pair ROS-Industrial Hydro (which is the latest) with ROS Jade / Ros Kinetic Kame. I am currently on Ubuntu and would like to know if i have to downgrade my OS if i want to use ROS-I.

Cheers

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

EDIT:

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

These are (some of) the topics i see:

/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status

<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->

  <!-- Non-standard joint names: -->
   <rosparam command="load" file="$(find kuka_rsi_hw_interface)/config/controller_joint_names.yaml"/>

  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
    <arg name="sim" default="true" />
    <arg name="robot_ip" unless="$(arg sim)" />

    <!-- load the robot_description parameter before launching ROS-I nodes -->
    <include file="$(find agil_moveit_config)/launch/planning_context.launch" >
      <arg name="load_robot_description" value="true" />
    </include>

    <rosparam command="load" file="$(find agil_moveit_config)/config/controllers.yaml"/>

    <!-- remap topics to conform to ROS-I specifications -->
    <remap from="/position_trajectory_controller/follow_joint_trajectory" to="/joint_trajectory_action" />
    <remap from="/position_trajectory_controller/state" to="/feedback_states" />
    <remap from="/position_trajectory_controller/command" to="/joint_path_command"/>

    <!-- run the robot simulator and action interface nodes -->
    <group if="$(arg sim)">
      <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
      <include file="$(find kuka_rsi_hw_interface)/test/test_hardware_interface.launch" />
    </group>

    <include file="$(find agil_moveit_config)/launch/move_group.launch">
      <arg name="publish_monitored_planning_scene" value="true" />
    </include>

    <include file="$(find agil_moveit_config)/launch/moveit_rviz.launch">
      <arg name="config" value="true"/>
    </include>

    <include file="$(find agil_moveit_config)/launch/default_warehouse_db.launch" />

  </launch>